En poursuivant votre navigation sur ce site, vous acceptez le dépôt de cookies dans votre navigateur. (En savoir plus)
Portail > Offres > Offre UMR5506-ABDKHE-010 - H/F Postdoc en commande de robots pour des tâches d'impacts

H/F Postdoc in impact-aware robotics

This offer is available in the following languages:
Français - Anglais

Date Limite Candidature : lundi 15 août 2022

Assurez-vous que votre profil candidat soit correctement renseigné avant de postuler. Les informations de votre profil complètent celles associées à chaque candidature. Afin d’augmenter votre visibilité sur notre Portail Emploi et ainsi permettre aux recruteurs de consulter votre profil candidat, vous avez la possibilité de déposer votre CV dans notre CVThèque en un clic !

General information

Reference : UMR5506-ABDKHE-010
Workplace : MONTPELLIER
Date of publication : Monday, July 25, 2022
Type of Contract : FTC Scientist
Contract Period : 12 months
Expected date of employment : 1 October 2022
Proportion of work : Full time
Remuneration : 2 739.24 € - 3 869.89 € depending on experience
Desired level of education : PhD
Experience required : 1 to 4 years

Missions

- Research and development in the framework of the EC H2020 I-AM project https://i-am-project.eu/
- Follow-up of engineering or master trainees and a PhD students.

Activities

The main objective of this postdoc is to plan and control robots to perform impact tasks, i.e. tasks that require making contact with non-zero relative velocities. Examples of these tasks are dynamic bipedal robotic walking, hammering, catching objects in flight and throwing objects at a specific location. To accomplish this, the following will be considered:
- confrontation of academic impact models with robotic experimental data ;
- development of impact propagation model in a robotic structure;
- influence of an impact on pre-existing unilateral contacts and influence on the equilibrium in multi-contacts;
- Predictive models of post-impact velocities and impact pulses suitable for real-time control;
- Realization of robotic demonstrators in impact scenarios;
- Writing of scientific papers in English;
- Writing of deliverables of the CE I-AM project;
- Collaborate with the I-AM consortium partners.

Skills

- Skills in non-smooth mechanics (modeling of contacts and impacts with friction between rigid and deformable poly-articulated bodies);
- Skills in robotics (kinematic and dynamic models) ;
- Skills in task-space control by QP optimization with constraints, otherwise knowledge in numerical optimization;
- Instrumentation, impact data collection and processing;
- Programming in C++ / Python
- Proficiency in machine learning techniques is a plus.

Work Context

The host laboratory is the LIRMM, the candidate will be assigned to the IDH team, his work will be directed by A. Kheddar in the framework of the EC H2020 I-AM project.
The team has a humanoid robot HRP-4, 3 Franka-Emika Panda robots and other small equipment.

Constraints and risks

NA

We talk about it on Twitter!